/*
 * @file drop_ball_server.h
 * @brief	action to drop the ball.
 *
 * @author	Michiel Hegemans
 * @author	Peter Evers
 *
 * @date	Jan 2013
 */

#include "servers/base_server.h"
#include "rp_states/DropBallAction.h"

class DropBallAction : public BaseServer {
private:
	actionlib::SimpleActionServer<rp_states::DropBallAction> as_;

	rp_states::DropBallFeedback feedback_;
	rp_states::DropBallResult result_;
public:
	DropBallAction(std::string name);
	~DropBallAction();

	/**
	 * Execute the goal, drop the ball.
	 */
	void execute(const rp_states::DropBallGoalConstPtr &goal);
};
